Week 3.2 - 2R Robotic Arm Challenge

Robotic arms can be used to automate the process of placing goods or products onto pallets. By automating the process, palletizing becomes more accurate, cost-effective, and predictable. The use of robotic arms also frees human workers from performing tasks that present a risk of bodily injury.

• starting the program by using comments like, clear all, close all and clc.
• Giving the input variables like, Length/values of the robotic arms, l1and l2, theta-1 & theta-2 using linspace command for theta=0 to 90 degrees for 12 values.
• Now Using ‘for’ command for iterating the values of the desired variable and again using ‘for’ command for providing movement to the second robotic arm.
• For the Equection x1,y1,x2,y2 or say Defining the coordinates of both the robotic arms.
• Plotting all the coordinate values and providing the axis no.[-0.1 2 0 2].
• Using the pause command to make the plot look realistic,(0.1).
• Incrementing the compression ratio (cr) value by +1 each time it executes for loop.
• All figures are assigned to a variable M, one at a time usingcr
• Ending the ‘for’ loop twice .
• using movie commandis to combine all the figures saved in the M file to make an animation/movie
• At end saving the movie in .avi format.

% a program for forward kinematic of 2R robotic arm manipulator animation

clear all

close all

clc

% Inputs required for calculation of end position of links

% Length of the links

l1 = 1;

l2 = 0.5;

% Angle of both links with the horizontal axis

theta1 = linspace(0,90,10);

theta2 = linspace(0,90,10);

ct = 1;

for i = 1:length(theta1)

THETA1 = theta1(i);

for j = 1 : length(theta2)

THETA2 = theta2(j);

x0 = 0;

y0 = 0;

x1 = l1*cosd(THETA1);

y1 = l1*sind(THETA1);

x2 = x1 + l2*cosd(THETA2);

y2 = y1 + l2*sind(THETA2);

plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],'linewidth',1.5)

axis([-0.1 2 0 2]);

title('kinematics of 2R Robotic arm')

xlabel('arm movement in x-axis');

ylabel('arm movement in y-axis');

pause(0.1);

grid on

file_text = sprintf('robotic_animation%d.png',ct);

saveas (gca,file_text);

ct = ct + 1;

end

end

I have found the Error , Later i come to know i have missied the ct=1; line no.12.

% Error of moive save

The Above image is the error of out put of the video of the Robotic Arm, I have try to save the video even i have write the code to for te video i couldnt get out put of the video.

pls let me know where i have gone wrong.

Thank you!

Note:- Pls Find the Attacment of the Above Program related Pls look into it.